A mine arch support trolley and method of use

Abstract

The present application belongs to the technical field of mine roadway arch technology, and particularly relates to a mine arch support trolley and a use method. The arch support trolley comprises a basket assembly, a first mechanical arm and two second mechanical arms. The first mechanical arm comprises a first telescopic arm and a clamping mechanism. The second mechanical arm comprises a second telescopic arm, a swing arm and a swing support. The swing arm is provided with a first winch. The basket assembly comprises two second winches. The method is to erect a middle arch support: after the first mechanical arm clamps the middle arch support, the first mechanical arm is vertically upward to send the middle arch support to the tunnel contour line. The method is to erect a side arch support: the side arch support is adjusted to be in a vertical state; the second mechanical arm is rotated to the direction of the tunnel section; and the arch support is erected. Thus, the first mechanical arm and the second mechanical arm are both inner-outer telescopic structures, and the second mechanical arm is further provided with a swing arm and a swing support. Both of them have the function of rotating around a hinge point, so that the arch support trolley has the advantages of small size and large extension range. The arch erection operation is not dependent on manual work, and the work progress is ensured.

Description

Technical Field

[0001] This invention belongs to the field of mine roadway arch technology, and particularly relates to a mine arch frame trolley and its usage method. Background Technology

[0002] Underground mine tunnels require reinforced support using steel arch frames or steel pipe beam concrete supports. Due to the small cross-sections and limited space for equipment deployment, arch erection is currently entirely done manually. Each construction cycle requires the construction of a scaffold, which is cumbersome to assemble and disassemble. Although aerial work platforms can assist in erecting the arch top, their baskets cannot accommodate the connection of the arch frames on both sides, which still require manual erection. Therefore, a large number of workers are needed, and the labor intensity is high. However, due to the complex geological conditions, deep excavation depths, harsh working environment, and high risks in underground mines, the number of workers engaged in this work is gradually decreasing. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] In order to solve the above-mentioned problems of the prior art, the present invention provides a mining arch frame trolley and its usage method, thereby solving the technical problem that the harsh working environment and high risk of arch erection work lead to a shortage of workers and affect the progress of the work.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0007] On one hand, the present invention provides a mining arch frame trolley for erecting a central arch frame and two side arch frames in a mining tunnel and connecting the central arch frame between the two side arch frames. The trolley includes a basket assembly mounted on a robotic arm of the arch frame trolley. The basket assembly includes a basket, a first robotic arm, and two second robotic arms symmetrically arranged about the left and right sides of the first robotic arm. The first robotic arm includes a first telescopic arm and a clamping mechanism. One end of the first telescopic arm is vertically rotatable and connected to the front of the basket, and the clamping mechanism is connected to the other end of the first telescopic arm for clamping the central arch frame. Both second robotic arms include a second telescopic arm. The system includes a boom, a swing arm, and a swing frame. One end of each of the two second telescopic booms is horizontally rotatably connected to the left and right sides of the bottom of the suspended basket. The other end of the swing arm on the same side is rotatably connected and rotates upward with the other end of the second telescopic boom as the axis. One end of the swing frame is rotatably connected to the side of the swing arm on the same side away from the center of the mining arch frame trolley and rotates upward with the connection point as the axis. A first winch is installed on the swing arm for lifting the side arch frame. The suspended basket assembly also includes two second winches, which are symmetrically fixed to the suspended basket about the left and right sides of the first manipulator for lifting the intermediate arch frame and cooperating with the first winch to lift the side arch frame.

[0008] Furthermore, the second manipulator also includes a diagonal support arm, which is fixedly connected to the upper part of the swing arm. Rollers are provided on the diagonal support arm. When lifting the side arch frame, the first wire rope released by the first winch is wound around the rollers and connected to the head of the side arch frame, while the second wire rope released by the second winch on the same side as the side arch frame is connected to the tail of the side arch frame.

[0009] Furthermore, when the intermediate arch frame is lifted, the second wire ropes released by the two second winches are respectively connected to both ends of the intermediate arch frame.

[0010] Furthermore, the first robotic arm also includes a first driver, and the first telescopic arm includes a first inner arm and a first outer arm. One end of the first driver is hinged inside the first inner arm, and the other end of the first driver is hinged inside the first outer arm. By controlling the first driver, the first inner arm is driven to extend and retract from the first outer arm. The clamping mechanism is fixedly connected to the front end of the first inner arm to extend and retract synchronously with the first inner arm.

[0011] Furthermore, the suspended platform assembly also includes a first robotic arm limiting seat and four second robotic arm limiting seats, all of which are fixed to the suspended platform. The first robotic arm limiting seat is located at the lower edge of the front end of the suspended platform to limit the vertical rotation range of the first robotic arm, and the four second robotic arm limiting seats are located on the bottom surface of the suspended platform to limit the horizontal rotation range of the second robotic arm.

[0012] Furthermore, the second telescopic arm includes a telescopically connected second inner arm and a second outer arm. The swing arm is connected to the second inner arm via a hinge seat. One end of the hinge seat is bolted to the second inner arm, and the other end of the hinge seat is hinged to the bottom of the swing arm via a first pin. The swing arm can rotate around the first pin. The swing frame is hinged to the swing arm via a second pin. The swing frame can rotate around the second pin.

[0013] Furthermore, the second robotic arm also includes a second driver, a third driver, and a fourth driver. The second outer arm is connected to the second inner arm via the second driver. The front end of the second driver is hinged inside the second inner arm, and the rear end is hinged inside the second outer arm. By controlling the second driver, the second inner arm can be extended and retracted from the first outer arm. One end of the third driver is hinged to the hinge seat, and the other end of the third driver is hinged to the swing arm to control the swing angle of the swing arm. One end of the fourth driver is hinged to the swing arm, and the other end of the fourth driver is hinged to the swing frame to control the swing angle of the swing frame.

[0014] Furthermore, the suspended platform assembly also includes a first mounting base and two second mounting bases symmetrically arranged about the left and right sides of the first mounting base. The first mounting base is fixedly connected to the front end of the suspended platform, and the second mounting bases are fixedly connected to both sides of the bottom of the suspended platform. The first manipulator also includes a first reducer, which is fixedly connected to the rear end of the first outer arm to drive the first manipulator to rotate vertically around the center of the first reducer. The first reducer is fixed to the first mounting base. The second manipulator also includes a second reducer, which is fixedly connected to the rear end of the second outer arm to drive the second manipulator to rotate horizontally around the center of the second reducer. The second reducer is fixed to the second mounting base.

[0015] Furthermore, the first robotic arm also includes a first limiting block, which is fixedly connected to the rear end of the first outer arm. Correspondingly, a second limiting block is provided on the first mounting base. The first limiting block and the second limiting block cooperate to limit the rotation of the first robotic arm.

[0016] On the other hand, the present invention also provides a method for using a mining arch frame trolley.

[0017] Steps for erecting the intermediate arch frame:

[0018] S11: The two second winches lift the intermediate arch frame to the clamping mechanism;

[0019] S12: The first robotic arm clamps the middle arch frame;

[0020] S13: The first robotic arm rotates back to the position where the clamping mechanism is vertically upward;

[0021] S14: The first robotic arm extends and sends the intermediate arch frame to the tunnel outline, forming the arch frame centerline reference;

[0022] Steps for erecting side arch frames:

[0023] S21: The swing arm is moved to the position of the side arch frame of the arch to be erected;

[0024] S22: The first winch on the same side as the side arch frame works in conjunction with the second winch on the side arch frame to lift the side arch frame so that the middle section of the side arch frame is close to the swing arm;

[0025] S23: The swing arm drives the side arch frame to rotate;

[0026] S24: Adjust the side arch frame of the swing frame to be in an upright position;

[0027] S25: The second robotic arm rotates to the direction of the tunnel section;

[0028] S26: The second robotic arm extends and sends the side arch frame to the tunnel outline, connecting the side arch frame with the middle arch frame and completing the erection of the arch.

[0029] (III) Beneficial Effects

[0030] The beneficial effects of this invention are:

[0031] This invention provides a mining arch frame trolley and its usage method, comprising a first robotic arm at the front end of the suspended basket and a second robotic arm at the bottom of the suspended basket. The first robotic arm is used to erect the intermediate arch frame, and the second robotic arm is used to erect the side arch frames. Both the first and second robotic arms are telescopic structures, and the second robotic arm is also equipped with a swing arm and a swing frame, both of which have the function of rotating around a hinge point.

[0032] The structure of this invention has the advantages of small size and large extension range, overcoming the difficulties of small cross-section and limited space for equipment deployment in most mining tunnels. It replaces manual operation, realizes the goal of arch erection without manual labor, and ensures the progress of work. Attached Figure Description

[0033] Figure 1 A schematic diagram of the first and second robotic arms of a mining arch frame trolley in their retracted state.

[0034] Figure 2 This is a schematic diagram of the first robotic arm;

[0035] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure of AA;

[0036] Figure 4 This is a schematic diagram of the second robotic arm;

[0037] Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure of AA;

[0038] Figure 6 This is a structural schematic diagram of the suspended platform assembly;

[0039] Figure 7 This is a schematic diagram showing the retraction of the first robotic arm after it has worked in conjunction with the second winch to grab the intermediate arch frame.

[0040] Figure 8 A schematic diagram showing the state of the first robotic arm erecting the arch;

[0041] Figure 9 A schematic diagram showing the state of the first and second winches working together to grab the side arch frame;

[0042] Figure 10 A schematic diagram showing the state of the second robotic arm erecting the arch;

[0043] Figure 11 A schematic diagram showing the state of the arch erection process completed by the mining arch frame trolley.

[0044] [Explanation of Labels in the Attached Image]

[0045] 1: First robotic arm; 11: First telescopic arm; 111: First inner arm; 112: First outer arm; 13: First driver; 14: Clamping mechanism; 15: First reducer; 16: First limit block;

[0046] 2: Second robotic arm; 21: Second telescopic arm; 214: Second inner arm; 215: Second outer arm; 23: Second actuator; 24: Swing arm; 25: Swing frame; 26: Diagonal brace arm; 27: Limiting frame; 28: Hinge seat; 29: Third actuator; 210: Fourth actuator; 211: First winch; 2111: First wire rope; 212: Roller; 213: Second reducer;

[0047] 3: Suspended platform assembly; 31: Suspended platform; 32: First mounting base; 321: Second limit block; 33: Second mounting base; 34: First robot arm limit seat; 35: Second robot arm limit seat; 36: Second winch; 361: Second wire rope;

[0048] 4: Central arch frame; 5: Side arch frame. Detailed Implementation

[0049] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0050] like Figure 1-11 As shown, this invention provides a mining arch frame trolley for erecting a central arch frame 4 and two side arch frames 5 inside a mining tunnel, and connecting the central arch frame 4 between the two side arch frames 5. Figure 11 As shown, this forms an inverted U-shape that fits snugly against the tunnel cross-section. (See diagram) Figure 1 , Figure 11 As shown, the mining arch trolley includes a basket assembly 3, a first robotic arm 1, and two second robotic arms 2 arranged symmetrically about the first robotic arm 1. The basket assembly 3 is mounted on the robotic arm of the arch trolley.

[0051] like Figure 2 , Figure 3 As shown, the first robotic arm 1 includes a first telescopic arm 11, a first driver 13, a clamping mechanism 14, and a first reducer 15. One end of the first telescopic arm 11 is vertically rotatably connected to the front side of the basket 31, and the clamping mechanism 14 is connected to the other end of the first telescopic arm 11 to clamp the intermediate arch frame 4 to realize the function of erecting the arch.

[0052] Among them, such as Figure 3 As shown, the first telescopic arm 11 includes a first inner arm 111 and a first outer arm 112. The first inner arm 111 is connected to the first outer arm 112 via a first driver 13. One end of the first driver 13 is hinged inside the first inner arm 111 via a pin, and the other end of the first driver 13 is hinged inside the first outer arm 112 via a pin. By controlling the first driver 13, the first inner arm 111 is driven to extend and retract from the first outer arm 112. A clamping mechanism 14 is fixedly connected to the front end of the first inner arm 111 to extend and retract synchronously with the first inner arm 111. A first reducer 15 is fixedly connected to the rear end of the first outer arm 112 via bolts to drive the first robotic arm 1 to rotate vertically around the center of the first reducer 15.

[0053] like Figure 4 , Figure 5 As shown, each of the two second robotic arms 2 includes a second telescopic arm 21, a second driver 23, a swing arm 24, a swing frame 25, a diagonal brace arm 26, a third driver 29, a fourth driver 210, and a second reducer 213. One end of each of the two second telescopic arms 21 is horizontally rotatably connected to the left and right sides of the bottom of the suspended basket 31. The other end of the swing arm 24 is rotatably connected to the second telescopic arm 21 on the same side and rotates upward with the connection point as the axis. One end of the swing frame 25 is rotatably connected to the side of the swing arm 24 on the same side away from the center of the mining arch frame trolley and rotates upward with the connection point as the axis. The diagonal brace arm 26 is bolted to the top of the swing arm 24. Rollers 212 are provided on the diagonal brace arm 26, and a first winch 211 is provided on the swing arm 24 for lifting the side arch frame 5.

[0054] Among them, such as Figure 5 As shown, the second telescopic arm 21 includes a telescopically connected second inner arm 214 and a second outer arm 215. The second outer arm 215 is connected to the second inner arm 214 via a second driver 23. The front end of the second driver 23 is hinged inside the second inner arm 214 via a pin, and the rear end is hinged inside the second outer arm 215 via a pin. By controlling the second driver 23, the second inner arm 214 is driven to extend and retract from the first outer arm 112. The second reducer 213 is fixedly connected to the rear end of the second outer arm 215 by bolts to drive the second manipulator 2 to rotate horizontally around the center of the second reducer 213.

[0055] The swing arm 24 is connected to the second inner arm 214 via a hinge seat 28. One end of the hinge seat 28 is bolted to the second inner arm 214, and the other end of the hinge seat 28 is hinged to the bottom of the swing arm 24 via a first pin. The swing arm 24 can rotate around the first pin. One end of the third driver 29 is hinged to the hinge seat 28, and the other end of the third driver 29 is hinged to the swing arm 24 to control the swing angle of the swing arm 24.

[0056] The pendulum frame 25 is hinged to the pendulum arm 24 via the second pin, and the pendulum frame 25 can rotate around the second pin. One end of the fourth driver 210 is hinged to the pendulum arm 24, and the other end of the fourth driver 210 is hinged to the pendulum frame 25 to control the swing angle of the pendulum frame 25.

[0057] The second robotic arm 2 also includes several limiting frames 27, which are fixed to the inclined support arm 26 and the swing frame 25 respectively to prevent the side arch frame 5 from deflecting.

[0058] like Figure 6 As shown, the suspended platform assembly 3 includes a suspended platform 31, a first mounting base 32, and two second mounting bases 33 symmetrically arranged about the left and right sides of the first mounting base 32. The first mounting base 32 is fixedly connected to the front end of the suspended platform 31 by bolts, and the second mounting bases 33 are fixedly connected to the bottom sides of the suspended platform 31 by welding. The first reducer 15 is fixed to the first mounting base 32 by bolts to connect the first manipulator 1 to the suspended platform 31, and the second reducer 213 is fixed to the second mounting base 33 by bolts to connect the second manipulator 2 to the suspended platform 31.

[0059] The suspended platform assembly 3 also includes two second winches 36, which are symmetrically fixed to the suspended platform 31 with bolts about the first manipulator 1 for lifting the intermediate arch frame 4 and cooperating with the first winch 211 to lift the side arch frame 5.

[0060] Specifically, when hoisting the intermediate arch frame 4, as follows: Figure 7 As shown, the second wire ropes 361 released by the two second winches 36 are respectively connected to both ends of the intermediate arch frame 4. When lifting the side arch frame 5, as... Figure 9 As shown, the first wire rope 2111 released by the first winch 211 is wound around the roller 212 and connected to the head of the side arch frame 5, and the second wire rope 361 released by the second winch 36 on the same side as the side arch frame 5 is connected to the tail of the side arch frame 5.

[0061] To limit the range of motion of the first robotic arm 1 and the second robotic arm 2, such as Figure 6 As shown, the suspended platform assembly 3 also includes a first robotic arm limiting seat 34 and four second robotic arm limiting seats 35, all of which are welded to the suspended platform 31. Specifically, the first robotic arm limiting seat 34 is located at the center of the lower edge of the front end of the suspended platform 31 to limit the vertical rotation range of the first robotic arm 1 to 180°. Two second robotic arm limiting seats 35 are located at the center of the front side of the bottom surface of the suspended platform 31, and the other two second robotic arm limiting seats 35 are located on both sides of the rear side of the bottom surface of the suspended platform 31 to limit the horizontal rotation range of the second robotic arm 2 to 90°.

[0062] At the same time, such as Figure 2As shown, the first robotic arm 1 also includes a first limiting block 16, which is fixedly connected to the rear end of the first outer arm 112 by welding. Correspondingly, a second limiting block 321 is provided on the first mounting base 32. The first limiting block 16 and the second limiting block 321 cooperate to limit the rotation of the first robotic arm 1.

[0063] This invention also provides a method for using a mining arch frame trolley. Before use, as follows: Figure 1 As shown, the mining arch trolley is in a retracted state when not in operation. At this time, the first manipulator 1 is in a vertically downward posture and is in contact with the first manipulator limit seat 34. The swing arms 24 of the two second manipulators 2 are located behind the basket 31 and in a vertically upward posture, respectively in contact with the two second manipulator limit seats 35 located behind the bottom surface of the basket 31. The first actuator 13, the second actuator 23, the third actuator 29, and the fourth actuator 210 are all in a retracted state.

[0064] like Figure 7-8 The steps for erecting the intermediate arch frame are shown below:

[0065] S11: As Figure 7 As shown, the two second winches 36 release the second wire ropes 361, which are respectively connected to both ends of the intermediate arch frame 4, as follows. Figure 7 As indicated by the middle arrow, lift the intermediate arch frame 4 to the clamping mechanism 14;

[0066] S12: Clamping mechanism 14 clamps intermediate arch frame 4 and removes the second steel wire ropes 361 at both ends of intermediate arch frame 4;

[0067] S13: As Figure 8 As shown, the first reducer 15 drives the first manipulator 1 to rotate to the clamping mechanism 14 so that it is vertically upward;

[0068] S14: The first inner arm 111 extends and sends the middle arch frame 4 to the tunnel outline, forming the arch frame centerline reference.

[0069] like Figure 9-11 As shown, the steps for erecting the side arch frame are as follows:

[0070] S21: The third drive 29 drives the swing arm 24 to swing to the position of the side arch frame 5 of the arch to be erected;

[0071] S22: As Figure 9 As shown, the first winch 211 on the same side as the side arch frame 5 releases the first wire rope 2111 and connects to the head of the side arch frame 5, while the second winch 36 on the same side as the side arch frame 5 releases the second wire rope 361 and connects to the tail of the side arch frame 5. The two winches work together to lift the side arch frame 5, as shown. Figure 9As indicated by the arrow in the image, the first winch 211 then winds up the first wire rope 2111, and the second winch 36 releases the second wire rope 361, so that the middle section of the side arch frame 5 is close to the swing arm 24.

[0072] S23: The third drive 29 retracts, driving the swing arm 24 to rotate the side arch frame 5;

[0073] S24: As Figure 10 As shown, the fourth driver 210 drives the swing frame 25 to swing and adjust the side arch frame 5 to an upright state;

[0074] S25: As Figure 10 As indicated by the middle arrow, the second reducer 213 drives the second robotic arm 2 to rotate to the direction of the tunnel cross-section;

[0075] S26: As Figure 11 As shown, the second inner arm 214 extends and sends the side arch frame 5 to the tunnel outline, realizing the connection between the side arch frame 5 and the middle arch frame 4, thus completing the erection of the arch.

[0076] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A mining arch frame trolley for erecting a central arch frame (4) and two side arch frames (5) in a mining tunnel and connecting the central arch frame (4) between the two side arch frames (5), comprising a suspended basket assembly (3), the suspended basket assembly (3) being mounted on the mechanical arm of the arch frame trolley, the suspended basket assembly (3) comprising a suspended basket (31), characterized in that, It also includes a first robotic arm (1) and two second robotic arms (2) arranged symmetrically about the first robotic arm (1); The first robotic arm (1) includes a first telescopic arm (11) and a clamping mechanism (14). One end of the first telescopic arm (11) is vertically rotatably connected to the front side of the basket (31), and the clamping mechanism (14) is connected to the other end of the first telescopic arm (11) for clamping the intermediate arch frame (4). Both of the second robotic arms (2) include a second telescopic arm (21), a swing arm (24), and a swing frame (25). One end of each of the two second telescopic arms (21) can be horizontally rotatably connected to the left and right sides of the bottom of the basket (31). The swing arm (24) can be rotatably connected to the other end of the second telescopic arm (21) on the same side and rotates upward with the other end of the second telescopic arm (21) as the axis. One end of the swing frame (25) can be rotatably connected to the side of the swing arm (24) on the same side away from the center of the mining arch frame trolley and rotates upward with the connection point as the axis. The swing arm (24) is equipped with a first winch (211) for lifting the side arch frame (5). The basket assembly (3) also includes two second winches (36). The two second winches (36) are symmetrically fixed to the basket (31) about the first manipulator (1) for lifting the middle arch frame (4) and cooperating with the first winch (211) to lift the side arch frame (5).

2. The mining arch frame trolley according to claim 1, characterized in that, The second robotic arm (2) also includes a diagonal support arm (26), which is fixedly connected to the upper part of the swing arm (24) below; The inclined arm (26) is equipped with a roller (212). When the side arch frame (5) is lifted, the first wire rope (2111) released by the first winch (211) is wound around the roller (212) and connected to the head of the side arch frame (5). The second wire rope (361) released by the second winch (36) on the same side as the side arch frame (5) is connected to the tail of the side arch frame (5).

3. The mining arch frame trolley according to claim 1, characterized in that, When the intermediate arch frame (4) is hoisted, the second wire ropes (361) released by the two second winches (36) are respectively connected to the two ends of the intermediate arch frame (4).

4. The mining arch frame trolley according to claim 1, characterized in that, The first robotic arm (1) further includes a first driver (13), and the first telescopic arm (11) includes a first inner arm (111) and a first outer arm (112). One end of the first driver (13) is hinged inside the first inner arm (111), and the other end of the first driver (13) is hinged inside the first outer arm (112). By controlling the first driver (13), the first inner arm (111) is driven to extend and retract from the first outer arm (112). The clamping mechanism (14) is fixedly connected to the front end of the first inner arm (111) so as to extend and retract synchronously with the first inner arm (111).

5. The mining arch frame trolley according to claim 1, characterized in that, The suspended basket assembly (3) further includes a first robotic arm limiting seat (34) and four second robotic arm limiting seats (35), all of which are fixed to the suspended basket (31). The first manipulator limit seat (34) is located at the lower edge of the front end of the basket (31) to limit the vertical rotation range of the first manipulator (1), and the four second manipulator limit seats (35) are located on the bottom surface of the basket (31) to limit the horizontal rotation range of the second manipulator (2).

6. The mining arch frame trolley according to claim 4, characterized in that, The second telescopic arm (21) includes a telescopically connected second inner arm (214) and a second outer arm (215). The swing arm (24) is connected to the second inner arm (214) via a hinge seat (28). One end of the hinge seat (28) is bolted to the second inner arm (214), and the other end of the hinge seat (28) is hinged to the bottom end of the swing arm (24) via a first pin. The swing arm (24) can rotate around the first pin. The swing frame (25) is hinged to the swing arm (24) by a second pin, and the swing frame (25) can rotate around the second pin.

7. The mining arch frame trolley according to claim 6, characterized in that, The second robotic arm (2) further includes a second driver (23), a third driver (29) and a fourth driver (210). The second outer arm (215) is connected to the second inner arm (214) through the second driver (23). The front end of the second driver (23) is hinged inside the second inner arm (214) and the rear end is hinged inside the second outer arm (215). By controlling the second driver (23), the second inner arm (214) is driven to extend and retract from the first outer arm (112). One end of the third actuator (29) is hinged to the hinge seat (28), and the other end of the third actuator (29) is hinged to the swing arm (24) to control the swing angle of the swing arm (24); One end of the fourth actuator (210) is hinged to the swing arm (24), and the other end of the fourth actuator (210) is hinged to the swing frame (25) to control the swing angle of the swing frame (25).

8. The mining arch frame trolley according to claim 6, characterized in that, The suspended platform assembly (3) further includes a first mounting base (32) and two second mounting bases (33) symmetrically arranged about the first mounting base (32). The first mounting base (32) is fixedly connected to the front end of the suspended platform (31), and the second mounting bases (33) are fixedly connected to both sides of the bottom of the suspended platform (31). The first robotic arm (1) also includes a first reducer (15), which is fixedly connected to the rear end of the first outer arm (112) to drive the first robotic arm (1) to rotate vertically around the center of the first reducer (15). The first reducer (15) is fixed to the first mounting base (32). The second robotic arm (2) also includes a second reducer (213), which is fixedly connected to the rear end of the second outer arm (215) to drive the second robotic arm (2) to rotate horizontally around the center of the second reducer (213). The second reducer (213) is fixed to the second mounting base (33).

9. The mining arch frame trolley according to claim 8, characterized in that, The first robotic arm (1) also includes a first limiting block (16), which is fixedly connected to the rear end of the first outer arm (112). Correspondingly, a second limiting block (321) is provided on the first mounting base (32). The first limiting block (16) cooperates with the second limiting block (321) to limit the rotation of the first robotic arm (1).

10. A method of using a mining arch frame trolley according to any one of claims 1-9, characterized in that, Steps for erecting the intermediate arch frame: S11: The two second winches (36) lift the intermediate arch frame (4) to the clamping mechanism (14); S12: The first robotic arm (1) clamps the intermediate arch frame (4). S13: The first robotic arm (1) rotates to the position where the clamping mechanism (14) is vertically upward; S14: The first robotic arm (1) extends and sends the intermediate arch frame (4) to the tunnel outline to form the arch frame centerline reference; Steps for erecting side arch frames: S21: The swing arm (24) swings to the position of the side arch frame (5) of the arch to be erected; S22: The first winch (211) on the same side as the side arch frame (5) cooperates with the second winch (36) on the side arch frame (5) to lift the side arch frame (5) so that the middle section of the side arch frame (5) is close to the swing arm (24). S23: The swing arm (24) drives the side arch frame (5) to rotate; S24: The swing frame (25) is tilted to adjust the side arch frame (5) to an upright state; S25: The second robotic arm (2) rotates to the direction of the tunnel section; S26: The second robotic arm (2) extends and sends the side arch frame (5) to the tunnel outline, thereby connecting the side arch frame (5) with the intermediate arch frame (4) and completing the erection of the arch.

Images